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Navigator: set cruise_speed to default on entering new mode #21503

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merged 1 commit into from
May 5, 2023
Merged

Navigator: set cruise_speed to default on entering new mode #21503

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27 changes: 24 additions & 3 deletions src/modules/navigator/navigator_main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -282,7 +282,13 @@ void Navigator::run()

// If no argument for ground speed, use default value.
if (cmd.param1 <= 0 || !PX4_ISFINITE(cmd.param1)) {
rep->current.cruising_speed = get_cruising_speed();
// on entering Loiter mode, reset speed setpoint to default
if (_navigation_mode != &_loiter) {
rep->current.cruising_speed = -1.f;

} else {
rep->current.cruising_speed = get_cruising_speed();
}

} else {
rep->current.cruising_speed = cmd.param1;
Expand Down Expand Up @@ -403,7 +409,14 @@ void Navigator::run()

rep->current.type = position_setpoint_s::SETPOINT_TYPE_LOITER;

rep->current.cruising_speed = get_cruising_speed();
// on entering Loiter mode, reset speed setpoint to default
if (_navigation_mode != &_loiter) {
rep->current.cruising_speed = -1.f;

} else {
rep->current.cruising_speed = get_cruising_speed();
}

rep->current.cruising_throttle = get_cruising_throttle();
rep->current.acceptance_radius = get_acceptance_radius();
rep->current.yaw = NAN;
Expand Down Expand Up @@ -468,9 +481,16 @@ void Navigator::run()
rep->current.type = position_setpoint_s::SETPOINT_TYPE_LOITER;
rep->current.loiter_radius = get_loiter_radius();
rep->current.loiter_direction_counter_clockwise = false;
rep->current.cruising_speed = get_cruising_speed();
rep->current.cruising_throttle = get_cruising_throttle();

// on entering Loiter mode, reset speed setpoint to default
if (_navigation_mode != &_loiter) {
rep->current.cruising_speed = -1.f;

} else {
rep->current.cruising_speed = get_cruising_speed();
}

if (PX4_ISFINITE(cmd.param1)) {
rep->current.loiter_radius = fabsf(cmd.param1);
rep->current.loiter_direction_counter_clockwise = cmd.param1 < 0;
Expand Down Expand Up @@ -499,6 +519,7 @@ void Navigator::run()
rep->current.loiter_radius = get_loiter_radius();
rep->current.loiter_direction_counter_clockwise = false;
rep->current.type = position_setpoint_s::SETPOINT_TYPE_TAKEOFF;
rep->current.cruising_speed = -1.f; // reset to default

if (home_global_position_valid()) {
// Only set yaw if we know the true heading
Expand Down